Autonomous agricultural system

ABSTRACT

An autonomous agricultural system comprising a mobile power unit including a frame and a power supply. A position of the power supply is shiftable with respect to the frame of the mobile power unit. The autonomous agricultural system additionally includes an implement releasably secured to the mobile power unit. The mobile power unit is configured to transport the implement. The mobile power unit is further configured to provide power from the power supply to the implement.

RELATED APPLICATIONS

The present non-provisional patent application is a divisional patentapplication of U.S. patent application Ser. No. 17/001,217, filed onAug. 24, 2020, and entitled “AUTONOMOUS AGRICULTURAL SYSTEM,” whichclaims priority benefit to prior-filed U.S. Provisional PatentApplication Ser. No. 62/890,345, filed on Aug. 22, 2019, and entitled“AUTONOMOUS AGRICULTURAL SYSTEM,” the entirety of which are herebyincorporated by reference into the present non-provisional patentapplication.

FIELD OF THE INVENTION

Embodiments of the present invention are directed to systems and methodsfor performing autonomous agricultural operations, such as soilmanipulation, seed planting, plant treatment, crop harvesting, and thelike.

BACKGROUND OF THE INVENTION

Standard agricultural operations are normally performed by a tractorpulling an agricultural implement through a field. Generally, however,such operations require an operator to be present to control theagricultural operations. Commonly, the operator will be positionedwithin a cab of the tractor so as to pilot the tractor and operate thecomponents of the implement. It would be beneficial if such agriculturaloperations could be performed in an automated fashion without the needfor an operator, so as to increase the efficiencies of performingagricultural operations.

In addition, it would be beneficial if there existed a universalautomated machine that could couple with a variety of differentimplements such that various types of agricultural operations could beperformed using the automated machine. Furthermore, it would bebeneficial if the automated machine and the implement could communicateand exchange power, such that the resulting system could maximizeoperating efficiencies. Such efficiencies might include optimization oftraction, floatation, soil compaction, field usage, soil manipulation,seed planting, plant/soil treatment, crop harvesting, and the like.

SUMMARY OF THE INVENTION

In one embodiment of the present invention, there is provided anautonomous agricultural system comprising a mobile power unit includinga frame and a power supply. A position of the power supply is shiftablein at least two dimensions with respect to the frame of the mobile powerunit. The autonomous agricultural system additionally includes animplement releasably secured to the mobile power unit. The mobile powerunit is configured to transport the implement. The mobile power unit isfurther configured to provide power from the power supply to theimplement.

An additional embodiment of the present invention includes an autonomousagricultural system comprising a mobile power unit including a powersupply and one or more drive mechanisms. The system additionallyincludes a monitoring system for measuring loads on each of the one ormore drive mechanisms. The system further includes an implementreleasably secured to the mobile power unit. The mobile power unit isconfigured to transport the implement. The mobile power unit is furtherconfigured to provide power from the power supply to the implement.

An additional embodiment of the present invention includes an autonomousagricultural system comprising a mobile power unit including a powersupply and one or more drive mechanisms. The system further includes animplement releasably secured to the mobile power unit. The implementincludes one or more drive mechanisms. The implement is releasablysecured to the mobile power unit via an articulated coupling, with theautonomous agricultural system steered through the articulated coupling.The mobile power unit is configured to transport the implement. Themobile power unit is further configured to provide power from the powersupply to the implement.

Embodiments of the present invention additionally include an autonomousagricultural system comprising a mobile power unit including a powersupply and one or more drive mechanisms. The system additionallyincludes an implement releasably secured to the mobile power unit. Thesystem further includes a track removal component configured to followbehind the mobile power unit to modify ground soil to remove tracksformed in the ground soil by the drive elements of the mobile powerunit. The mobile power unit is configured to transport the implement.The mobile power unit is further configured to provide power from thepower supply to the implement.

An additional embodiment of the present invention includes an autonomousagricultural system comprising a mobile power unit including a powersupply, and an implement releasably secured to the mobile power unit.The system further includes a drive-over assembly associated with theimplement. The drive-over assembly is configured to permit the mobilepower unit to drive on top of the drive-over assembly to facilitatecoupling of the implement to the mobile power unit. The mobile powerunit is configured to transport the implement. The mobile power unit isfurther configured to provide power from the power supply to theimplement.

A further embodiment of the present invention includes an autonomousagricultural system comprising a mobile power unit including a powersupply, and an implement releasably secured to the mobile power unit.The system further includes a connection assembly for facilitatingconnection between the implement and the mobile power unit. Theconnection assembly includes a hitch point at which the implement issecured to the mobile power unit. The connection assembly is configuredsuch that a position of the hitch point is adjustable. The mobile powerunit is configured to transport the implement. The mobile power unit isfurther configured to provide power from the power supply to theimplement.

This summary is provided to introduce a selection of concepts in asimplified form that are further described below in the detaileddescription. This summary is not intended to identify key features oressential features of the claimed subject matter, nor is it intended tobe used to limit the scope of the claimed subject matter. Other aspectsand advantages of the present invention will be apparent from thefollowing detailed description of the embodiments and the accompanyingdrawing figures.

BRIEF DESCRIPTION OF THE FIGURES

Embodiments of the present invention are described herein with referenceto the following drawing figures, wherein:

FIG. 1 is a front elevation view of an autonomous agricultural systemcomprising a mobile power unit and an implement coupled with the mobilepower unit;

FIG. 2 is a front elevation view of the autonomous agricultural systemfrom FIG. 1 , further comprising a power supply having a position thatis shiftable, laterally, with respect to a frame of the mobile powerunit;

FIG. 3 is a side elevation view of the autonomous agricultural systemfrom FIG. 2 , with each of the mobile power unit and the implementincluding drive mechanisms, and further illustrating the power supplyconfigured to shift longitudinal and vertically;

FIG. 4 is another side elevation view of an autonomous agriculturalsystem comprising a mobile power unit and an implement, with the systemfurther including a track removal component configured to remove tracksformed by drive mechanisms of the mobile power unit and/or theimplement;

FIG. 5 is a further side elevation view of an autonomous agriculturalsystem comprising a mobile power unit and an implement, with theimplement comprising an integrated track removal component configured toremove tracks formed by drive mechanisms of the mobile power unit and/orthe implement;

FIG. 6 is a side elevation view of an autonomous agricultural systemcomprising a mobile power unit and an implement coupled with the mobilepower unit via a skid-steer type quick coupling assembly;

FIG. 7 is a side elevation view of an autonomous agricultural systemcomprising a mobile power unit and an implement coupled with the mobilepower unit via a 5^(th)-wheel type coupling assembly;

FIG. 8 is a front elevation view of an autonomous agricultural systemcomprising a mobile power unit and an implement, with the implementcomprising a drive-over assembly to facilitate coupling of the implementto the mobile power unit;

FIG. 9 is a side elevation view of the autonomous agricultural systemfrom FIG. 8 , with a cross-section formed along a drive-alignmentsection of the drive-over assembly;

FIG. 10 a is a side elevation view of an autonomous agricultural systemcomprising a mobile power unit and an implement coupled with the mobilepower unit via a connection assembly, with a hitch point of theconnection assembly being at a standard height;

FIG. 10 b is a side elevation view of the autonomous agricultural systemfrom FIG. 10 a , with the hitch point of the connection assembly beingat a raised height;

FIG. 10 c is a side elevation view of the autonomous agricultural systemfrom FIGS. 10 a and 10 b , with the hitch point of the connectionassembly being at a lowered height;

FIG. 11 a is a side elevation view of an autonomous agricultural systemcomprising a mobile power unit and an implement coupled with the mobilepower unit via a connection assembly, with the connection assemblyincluding a vertical pivot such that the connection assembly comprisesan articulated coupling between the mobile power unit and the implement;

FIG. 11 b is a top plan view of the autonomous agricultural system ofFIG. 11 a , particularly showing the mobile power unit and the implementbeing rotated with respect to each other about an articulation point ofthe articulated coupling;

FIG. 12 is a top plan view of an autonomous agricultural systemcomprising a mobile power unit and an implement coupled with the mobilepower unit via a connection assembly, with the connection assemblyincluding steering cylinders for steering the autonomous agriculturalsystem;

FIG. 13 is a side elevation view of the autonomous agricultural systemfrom FIG. 12 , with the connection assembly being in an unconnectedconfiguration, and with the connection assembly further includingelectric and hydraulic couplers;

FIG. 14 is a side elevation view of the autonomous agricultural systemfrom FIG. 13 , with the connection assembly being in a connectedconfiguration; and

FIG. 15 is another side elevation view of an autonomous agriculturalsystem comprising a mobile power unit and an implement coupled with themobile power unit via the connection assembly shown in FIGS. 13 and 14 .

The drawing figures do not limit the present invention to the specificembodiments disclosed and described herein. The drawings are notnecessarily to scale, emphasis instead being placed upon clearlyillustrating the principles of the invention.

DETAILED DESCRIPTION

The following detailed description of the present invention referencesvarious embodiments. The embodiments are intended to describe aspects ofthe invention in sufficient detail to enable those skilled in the art topractice the invention. Other embodiments can be utilized and changescan be made without departing from the scope of the present invention.The following detailed description is, therefore, not to be taken in alimiting sense. The scope of the present invention is defined only bythe appended claims, along with the full scope of equivalents to whichsuch claims are entitled.

Embodiments of the present invention are directed to systems and methodsfor performing autonomous agricultural operations, such as soilmanipulation, seed planting, plant/soil treatment, crop harvesting, andthe like, as will be described in more detail below. Beginning with FIG.1 , embodiments of the present invention may broadly include anautonomous agricultural system 10 comprising a universal, mobile powerunit 12 configured to propel, transport, and/or provide operating powerto an interchangeable implement 14 configured to be releasably securedto the power unit 12. As such, the power unit 12 is configured totransport the implement 14 across the ground, such that the implement 14can perform agricultural operations. The implement 14 may comprisevarious types of tools configured to perform agricultural operations,such as tiller, coulters, seeders, harvesters, crop sprayers, fertilizerapplicator (e.g., a sidedress tool bar), etc. Beneficially, the powerunit 12 may be autonomously operated, such that the agriculturaloperations may be performed autonomously by the power unit 12transporting and/or powering the implement 14.

For example, a user of the system 10 (e.g., farmer) may have threedifferent implements 14 (e.g., one implement 14 for tilling the ground(e.g., a tiller), one implement 14 for planting seed in the ground(e.g., a seeder), and one implement 14 for harvesting crop (e.g., aharvester)). Beneficially, however, the user of the system 10 may onlyrequire a single power unit 12 to operate each of the implements 14. Aswill be described in more detail below, the power unit 12 is configuredto be selectively engaged with one of the implements 14, so as to propeland/or to provide power to the implement 14 such that the implement 14can perform its intended operation. For example, the power unit 12 maybe engaged with a first implement 14 in the form of the tiller toperform tilling operations over a field. Next, upon completion of thetilling, the power unit 12 can disengage from the first implement 14 andengage with a second implement 14 in the form of a planter to performplanting/seeding operation over the field. Next, upon completion of theplanting (and in some embodiments after crop has begun to grow in thefield), the power unit 12 can disengage from the second implement 14 andengage with a third implement 14 (e.g., a crop sprayer or a fertilizerapplicator) to perform treatments operations for the ground soil or thecrop in the field. Finally, the power unit 12 can disengage from thethird implement 14 and, once crop has grown in the field, can be engagedwith a fourth implement 14 in the form of a harvester to harvest thecrop that has grown in the field. Thus, only a single power unit 12 isrequired to perform multiple different agricultural operations.Furthermore, the system 10 is configured to operate autonomously, suchthat the user of the system 10 does not need to be physically presentwith the power unit 12 and/or the implement 14 during operations.

In more detail, the power unit 12 and the associated implement 14 areconfigured to operate in a coordinated manner to perform intendedagricultural operations. To accomplish such coordination, system 10 mayinclude a control system 16 that receives inputs/data from varioussensors and controls operation of the power unit 12 and/or theassociated implement 14 based on such inputs/data. The control system 16may, as shown in FIG. 1 , be incorporated with the power unit 12.Alternatively, the control system 16 may be incorporated with theimplement 14 or may be separated from the power unit and implement 14.Regardless, such sensors may include location-determining elements(e.g., global positioning sensors/receivers (“GPS”), global navigationsignal system (“GNSS”), real time kinematics (RTK), over-the-air,broadband, wide area network (“WAN”), local area network (“LAN”), etc.),vision-based sensors (e.g., video cameras, infrared (IR) cameras, LIDAR,RADAR, etc.), temperature sensors, moisture sensors, pressure sensors,and the like. To facilitate communication with the sensors, the powerunit 12, and the implement 14 to which it is paired, may communicatewith the sensors internally (e.g., the control system 16 can communicatewith sensors located in, on, or adjacent to the power unit 12 and/orimplement 14) and/or externally (e.g., the control system 16 cancommunicate with sensors located external to the power unit 12 and/orimplement 14). As such, the power unit 12 and/or implement 14 willgenerally include communications components necessary for wired orwireless communication (e.g., radiofrequency transceivers, such ascellular, Wi-Fi, Bluetooth, or the like). As such, the power unit 12and/or implement 14 may communicate over networks, such as over-the-airnetworks, broadband, WAN, LAN, etc. Based on the inputs/data from thevarious sensors, the control system 16 may control operation of thepower unit 12 and/or the implement 14, as will be discussed in moredetail below.

The control system 16 may include one or more memory elements, such asnon-transitory computer readable media and/or firmware, with a computerprogram stored thereon. The control system 16 may also include one ormore processing elements, such as processors, CPUs, FPGAs, etc., whichare configured to execute the computer program to perform variousfunctions and features of the system 10 described herein. Thus, itshould be understood that certain of the system's 10 functions andfeatures discussed above and below are performed by execution of thecomputer program (stored on the memory elements) by the processingelements. For example, the control system 16 may be configured to (bythe processing elements executing the computer program stored on thememory elements) (i) obtain information/data from various sensorsassociated with the system 10 (e.g., location-determining element in theform of a GPS receiver), and (ii) control the position, motion, andvarious operations of the power unit 12 and/or the implement 14 based onsuch sensor information/data.

In some embodiments, the system 10 may include a plurality of powerunits 12, each perhaps being paired with at least one separate implement14. In certain of such embodiments, each power unit 12 may beindependently controlled, e.g., autonomously and/or remotely. Forexample, each of the power units 12 may be controlled autonomously viaone or more control systems that individually operate the power units 12and/or the implements 14 based on data obtained from various sensors.Alternatively, the power units 12 may be remotely controlled (e.g.,remotely steerable) by a remote operator. In additional embodiments, thepower units 12 may work together (e.g., as a swarm) to performagricultural operations. In such embodiments, the multiple power units12 and paired implements 14 may communicate (e.g., wirelessly) with eachother to aid in autonomous guidance and to maximize operationalefficiencies. For example, each mobile power unit 12 may be configuredto communicate with the other power units 12 to create one or morefeedback loops to improve guidance, improve stability, maximize/optimizetraction, and/or maximize/optimize floatation of the power units 12and/or their associated implements 14. In some embodiments, the controlsystem 16 will incorporate machine learning techniques (e.g., using thedata obtained from the plurality of power units 12 and/or implements) tocontinually improve performance of the system 10.

Turing to the power unit 12 in more detail, the power unit 12 maycomprise a frame 20, a drive mechanism 22, and a power supply 24, asillustrated in FIG. 2 . The drive mechanism 22 may support the frame 20on the ground and may comprise one or more wheels or tracks, which areused to propel and maneuver the power unit 12. The drive mechanism 22may be configured to provide tractive power to the power unit 12 suchthat the power unit 12 can maneuver in generally any direction (e.g.,forward, rearward, rightward, leftward, and oblique directions). Thedrive mechanism 22 may be powered by the power supply 24, which maycomprise one or more batteries that store and provide electrical powerto the drive mechanism 22 and to other components of the power unit 12.In additional embodiments, the power supply 24 may comprise one or morecombustion engines (to generate rotary power), electrical generators (togenerate electrical power), hydraulic pumps (to generate hydraulicpower), fuel tanks/pumps (to store and provide fuel), or the like. Thedrive mechanism 22 may include various types of motors (e.g., electricor hydraulic motors powered by the power supply 24) to provide tractivepower to the wheels/tracks of the drive mechanism 22. As will bediscussed in more detail below, the power supply 24 may also providepower to the implement 14 to which the power unit 12 is operablyconnected.

In certain embodiments, the power supply 24 may be supported by theframe 20 of the power unit 12. As an exemplary embodiment, for instance,FIGS. 2 and 3 illustrates the power supply 24 being supported on a topof the frame 20 of the power unit 12. In certain embodiments, at least aportion of the power supply 24 may be shiftable on the power unit 12parallel to, perpendicular with, or at an angle with respect to thedirection of travel of the power unit 12 (e.g., forward, rearward,rightward, leftward, and oblique directions, as well as upward anddownward directions) so as to enhance weight distribution, stability,traction (i.e., to improve tractional friction between the system 10 andthe ground), or floatation (i.e., to minimize compaction of the groundsoil) of the system 10. Stated differently, the shifting of the powersupply 24 may be used to alter weight bias of the components of thesystem 10 to optimize traction and/or to minimize soil compaction. Inmore detail, the power supply 24 is configured to, in some embodiments,shift its position in at least two dimensions (e.g., laterally andlongitudinally) with respect to the frame 20 of the power unit 12. Insome additional embodiments, the power supply 24 is configured to shiftits position in at least three dimensions (e.g., laterally,longitudinally, and vertically) with respect to the frame 20 of thepower unit 12. The shifting of the power supply 24 may be based on anautomatic feedback loop between the power unit 12 and the implement 14.For example, each of the power unit and the implement 14 may includeload sensors configured to measure the load (e.g., ground pressurerepresentative of traction and soil compression) imparted by each of thepower unit 12 and the implement 14. The power unit 12 and the implement14 may communicate their respective load information to each other, suchthat the control system 16 may shift the position of the power supply 24as necessary based on the load information.

The power supply 24 may comprise a plurality of components (e.g.,batteries, combustion engines, hydraulic pumps, fuel tanks, etc.) eachof which are shiftable on the frame of the power unit 12 independentlyof one another. To accomplish such shifting, the power supply 24components may be supported on the frame 20 via tracks, such that one ormore actuators or motors can shift the position of the power supply 24components by actuating such components along the tracks.

Remaining with FIG. 2 , the system 10 may include a connection assembly28 configured to operably and releasably connect the power unit 12 tothe implement 14. The connection assembly 28 may comprise various typesof mechanisms, some of which are discussed in more detail below,configured to permit the power unit 12 to support, propel, and/orprovide power to the implement 14. For example, the power unit 12 may beconfigured to pull or push the implement 14. In certain embodiments, theconnection assembly 28 may also be configured to transfer power from thepower unit 12 to the implement (e.g., from the power supply 24). Forinstance, the power supply 24 may provide rotary power, electricalpower, hydraulic power, and/or fuel to the implement 14. In someembodiments, the connection assembly 28 may be part of the power unit12. Alternatively, the connection assembly 28 may be part of theimplement 14. In further alternatives, a portion of the connectionassembly 28 may form part of the power unit 12 while another portion ofthe connection assembly 28 may form part of the implement 14. In evenfurther alternatives, the connection assembly 28 may be a mechanism thatis independent of either of the power unit 12 and the implement 14.

As shown in FIG. 3 , the implement 14 may also have its own drivemechanism 30. As with the power unit, the drive mechanism 30 of theimplement 14 may comprise wheels, tracks, or the like. In certainembodiments, the drive mechanism 30 may support the implement on theground and may simply be neutrally configured to permit the implement 14to move when propelled by the power unit 12. In some alternativeembodiments, the drive mechanism 30 may be configured to receive powerso as to provide tractive power to the implement 14 such that theimplement 14 may be at least partially self-propelled. In suchembodiments, the implement 14 may include receive power from the powersupply 24 of the power unit 12, such as through the connection assembly28 connecting the power unit 12 and the implement 14. The drivemechanism 30 may include various types of motors (e.g., electric orhydraulic motors powered by the power supply 24) to provide tractivepower to the wheels/tracks of the drive mechanism 30.

Power may also be supplied from the power unit 12 to the implement 14(e.g., from the power supply 24 via the connection assembly 28) so as toprovide power to other tractive components of the implement 14. Suchother tractive components include components of the implement 14 thatare configured to engage with the ground during operation of the system10, such as depth-control wheels or tracks, finishing reels, tillagediscs, furrow opening discs, packer wheels, etc. In further embodiments,actuation of such tractive components on or in the ground may generatepower which can be captured and provided to one or more additionalcomponents of the implement 14.

As noted above, in certain embodiments, the implement 14 will comprisean agricultural implement configured to modify the ground soil (e.g.,tiller). As such, the implement 14 may include tractive components inthe form of one or more of the following: tillage discs, furrow openingdiscs, packer wheels, harrows, finishing reels, or other rotaryelements. As was noted above, such tractive components may be used tohelp propel or provide tractive effort to various components of thesystem 10 (e.g., the implement 14 and/or the power unit 12) and/or toprovide operating power to other components of the implement 14 and/orthe power unit 12. Alternatively, or in addition, in certainembodiments, the implement 14 will comprise an agricultural implementconfigured to insert or apply material (e.g., seed or treatment, such asfertilizer, growth regulator, biological organism, herbicide, and/orpesticide/insecticide) into or onto the ground. As such, the implement14 may include tractive components in the form of one or more of thefollowing: furrow opening discs, depth wheels, closing wheels, packerwheels, finishing reels, or other rotary elements. As was noted above,such tractive components may be used to help propel or provide tractiveeffort to various components of the system 10 (e.g., the implement 14and/or the power unit 12) and/or to provide operating power to othercomponents of the implement 14 and/or the power unit 12. Alternatively,or in addition, in certain embodiments, the implement 14 will comprisean agricultural implement configured to harvest crop from the ground. Assuch, the implement 14 may include tractive components in the form ofharvesting elements or other rotary elements. As was noted above, suchtractive components may be used to help propel or provide tractiveeffort to various components of the system 10 (e.g., the implement 14and/or the power unit 12) and/or to provide operating power to othercomponents of the implement 14 and/or the power unit 12.

In certain embodiments, the computer program stored on the memoryelements associated with the control system 16 may include aprescription file that defines one or more target parameters for thesystem 10. The system 10 may collect sensor data (from the sensors ofthe system 10) associated with the agricultural operations beingperformed by the system 10 (e.g., the power unit 12 and/or implement 14)in real-time (or near real-time), and the control system 10 may changeoperating parameters of the system 10 such that the operating parametersfall within the target parameters. As an example, a power unit 12 may bepropelling an implement 14 in the form of a tiller through a fieldperforming tilling operations. The control system 16 may collect varioussensor data associated with the field, such as soil smoothness,vegetation content, etc. Such sensor data may be collected from sensorsin the form of optical cameras, infrared (IR) cameras, light detectionand ranging (“LIDAR) cameras, etc. The control system 16 may comparesuch sensors data with the target parameters to determine if the currentoperating parameters of the system 10 are in line with the targetparameters or, instead, require changing. If the operating parametersrequire changing so as to be brought in line with the target parameters,the control system 16 may adjust one or more operating parameters of thesystem 10 accordingly, For example, if the ground soil is determined tobe more rough than specified by the target parameters, the controlsystem 16 may change various operating parameters of the implement 14 tomore significantly smoothen out the soil. Such operating parameters mayinclude, for instance, increasing/decreasing the depth or angle of thetillage discs, finishing wheels, etc.

In some embodiments, the power unit 12 will be configured to support atleast portion of the weight of the implement 14. For example, as shownin FIGS. 1 and 2 , the implement 14 may be supported underneath thepower unit 12, via the connection assembly 28, in a manner that permitsat least a portion of the weight of the implement 14 to be supported bythe power unit 12. The connection assembly 28 between the power unit 12and the implement 14 may permit the power unit 12 to entirely lift theimplement 14 off the ground (or at least reduce the implement 14 load)during transportation. In certain alternatives, the implement 14 may bepositioned in front or behind the power unit 12. In some otherembodiments, the implement 14 may comprise a foldable wing implementcoupled to the power unit 12 in a manner to permit the implement 14 tobe folded with respect to the power unit 12. In some specificembodiments, the power unit 12 may support two or more implements 14that are each configured in the form of a support wing. As such, theimplements 14 may each be folded up off of the ground (partially orfully), with their weight supported (partially or fully) by the powerunit 12.

In some additional embodiments, weight may be shifted or transferredbetween (e.g., back and forth) the power unit 12 and the implement 14for preferential operations. For example, weight may be transferred(e.g., via shifting of the power supply 24 and/or via adjustment ofactuators the connection assembly 28) from the power unit 12 to theimplement 14 to increase traction or downforce of the implement 14. Sucha feature may be beneficial, for instance, when the implement 14 is ano-till drill that is required to achieve a specified seed depth in hardpacked soil. In other embodiments, weight may be transferred from theimplement 14 to the power unit 12 to increase flotation (e.g., reducesoil compaction) of the implement 14. Furthermore, weight may betransferred between the power unit 12 and the implement 14 to maximizeweight distribution, stability, traction, and/or floatation of thecombination of the power unit 12 and the implement 14.

As used herein, directional terms are based on the direction of travelof the system 10. Thus, the terms “front” and “forward” mean alongitudinal direction towards an end of the power unit 12 and/or theimplement 14 that faces a direction of travel of the system 10. Theterms “back,” “rear”, or “rearward” mean a longitudinal directiontowards an opposite end of the power unit 12 and/or the implement thatfaces opposite the direction of travel. The term “left” or “leftward”means a left lateral direction from the perspective of an individualfacing the direction of travel, while the term “right” or “rightward”means a right lateral direction from the perspective of an individualfacing the direction of travel.

In certain embodiments, as illustrated in FIG. 4 , the power unit 12and/or the implement 14 may include and/or carry a track removalcomponent 32 configured to modify (e.g., smoothen, remove, or cover)tracks, impressions, and/or indentions formed into the ground soil bythe drive mechanisms 22, 30 (e.g., tires and/or tracks) of the powerunit 12 and/or implement 14. Such a track removal component 32 maycomprise a blade (e.g., a plow blade), tillage discs, finishing reels, arotating brush, or the like. In some embodiments, each of the power unit12 and the implement 14 will be associated with an individual trackremoval component 32. As shown in FIG. 4 , in some embodiments, thepower unit 12 will support and carry an implement 14 positionedunderneath the power unit 12 (generally moving in a travel directionindicated by the arrow shown in the figure). The implement 14 mayinclude, support, and/or or be associated with the track removalcomponent 32 positioned behind/reward of the power unit 12 and/or theimplement 14. Specifically, the track removal component 32 may beconnected to the rear of the implement 14 via a linkage or connection,such that the track removal component 32 can be pulled behind theimplement 14 and/or the power unit 12. As a result, the track removalcomponent will be configured to remove or cover tracks formed into theground soil by the drive mechanisms 22, 30 (e.g., tires and/or tracks)of the power unit 12 and/or the implement 14. As a result of such trackremoval, the usable area of the field in which the system 10 isoperating can be increased (e.g., more ground soil is available foradditional planting and crop growth). As noted above, however, inadditional embodiments, the power unit 12 may include, support, and/orbe associated with its own track removal component 32.

As illustrated in FIG. 5 , the track removal component 32 may beincorporated as an integral part of the implement 14. The power unit 12may carry the implement 14 and the track removal component 32 behind thepower unit 12 (generally moving in a travel direction indicated by thearrow). As a result, the track removal component 32 will be configuredto remove or cover tracks formed into the ground soil by the drivemechanisms 22, 30 (e.g., tires and/or tracks) of the power unit 12and/or the implement 14.

In some embodiments, the control system 16 associated with the system 10will be configured as a monitoring system to monitor loads at each ofthe drive mechanisms 22, 30 (e.g., wheels and/or tracks) of the powerunit 12 and the implement 14. The monitoring system may monitor theloads (e.g., via the load sensors associated with the drive mechanisms22, 30) so as to maximize the traction of each (or subset) of the drivemechanisms 22, 30. Alternatively, or in addition, the monitoring systemmay monitor the loads (e.g., via the load sensors associated with thedrive mechanisms 22, 30) so as to minimize the compaction of each (orsubset) of the drive mechanisms 22, 30. In more detail, the controlsystem 16 (and/or the monitoring system) may maximize the traction orminimize the compaction of the system 10 by shifting and/or adjustingweight or forces back and forth between the power unit 12 and theimplement 14 based on the loads measured via the load sensors associatedwith the drive mechanisms 22, 30. Such shifting and/or adjustment ofweight/forces may be performed by adjusting the position of the powersupply 24, as previously described, and/or by adjusting actuatorsassociated with the connection assembly 28 (such actuators are discussedin more detail below).

In some additional embodiments, the control system 16 (and/or themonitoring system) may maximize the traction or minimize the compactionof the system 10 by adjusting the tractive components of the implement14. For example, in certain embodiments, the implement 14 may includetractive components in the form of ground-engaging tools used to performagricultural operations. As was described above, such tractivecomponents may include depth-control wheels, packer wheels, tillagediscs, furrow opening discs, packer wheels, harrows, finishing reels, orthe like. Based on the loads measured by the monitoring system (e.g., atthe drive mechanisms 22, 30), the control system 16 (and/or themonitoring system) may make necessary adjustments to the tractivecomponents of the implement 14 to maximize the traction or minimize thecompaction of the system 10, including any necessary adjustments to thedrive mechanisms 22, 30 of the power unit 12 and implement 14, as wellas to the tractive components of the implement 14. In additionalembodiments, the monitoring system may monitor the loads at the tractivecomponents of the implement 14 and make adjustments to such tractivecomponents (e.g., raise, lower, adjust angular position, etc.), so as toaid in maximizing the traction or minimizing the compaction of thesystem 10 (including of the tractive components of the implement 14).Weight distribution of the system 10, as well as the position of thepower supply 24, may also be adjusted based on the load measurementsobtained for the tractive components.

Returning to the connection assembly 28 used to operably connect theimplement 14 to the power unit 12, embodiments may provide for varioustype of mechanisms to be used. For example, as illustrated in FIG. 6 ,the connection assembly 28 may comprise a skid-steer type “quickcoupling assembly” (such as may be used to connect implements toskid-steer loaders) used to releasably secure the implement 14 to thepower unit 12. The skid-steer quick coupling assembly may permit quickand efficient coupling of various types of implements 14 to the powerunit 12. In addition, the connection assembly 28 may include one or moreactuators for adjusting the position of the implement 14 with respect tothe power unit 12. For instance, as shown in FIG. 6 , an upper actuator(e.g., a hydraulic or pneumatic cylinder, or an electric linear orrotary actuator) may be configured to raise and lower the implement 14with respect to the power unit 12. A lower actuator (e.g., a hydraulicor pneumatic cylinder, or an electric linear or rotary actuator) may beconfigured to tilt the implement 14 with respect to the power unit 12.Such actuators may also be used to shift weight back and forth betweenthe power unit 12 and the implement 14. For example, the actuators mayforce the implement 14 downward (e.g., into the ground) to reduceweight/force of the power unit 12 with respect to the ground (andconversely increasing the weight/force of the implement 14 with respectto the ground), while the actuators may raise the implement 14 (e.g.,out of or away from the ground) to increase the weight/force of thepower unit 12 with respect to the ground (and conversely reducing theweight/force of the implement 14 with respect to the ground).

Alternatively, as shown in FIG. 7 , the connection assembly 28 maycomprise a 5^(th)-wheel type coupling assembly (such as may be usedbetween tractors and 5^(th)-wheel trailers) which may be used toreleasably secure the implement 14 to the power unit 12. The5^(th)-wheel coupling assembly may permit quick and efficient couplingof various types of implements 14 to the power unit 12.

Turning to FIG. 8 , in certain embodiments, the implement 14 may includeand/or be associated with a drive-over segment 34 that facilitates theability of the power unit 12 to releasably engage with the implement 14.For example, the drive-over segment 34 may comprise one or moredrive-alignment sections 36, each of which are configured to align withone of the wheels or tracks of the drive mechanism 22 of the power unit12, such that the power unit 12 can drive over and/or on top of theimplement 14 and/or drive-over segment 34. For instance, the drivemechanism 22 of the power unit 12 shown in FIG. 8 comprises two wheels.As such, drive-over segment 34 of the implement 14 includes twodrive-alignment sections 36 over which the wheels of the power unit 12can travel during engagement/disengagement of the implement 14 with thepower unit 12. Specifically, when connecting the implement 14 to thepower unit 12, the power unit 12 can drive over the implement 14, and inparticular over the drive-over segment 34 of the implement 14 forpurposes of engaging the implement 14 to the power unit 12. Each of thewheels of the drive mechanism 22 will generally be aligned with thedrive-alignment section 36, such that the wheels can travel over thedrive-alignment section 36. FIG. 8 is a side elevation view of thesystem 10 from FIG. 8 , with the drive-over segment 34 beingcross-sectioned at one of the drive-alignment sections 36. As shown inFIG. 8 , portions of the drive-over segment 34 laterally adjacent (i.e.,to the side) of the drive-alignment sections 36 may be angled upward soas to direct the wheels downward, towards the drive-alignment sections36 should the wheels be misaligned.

Regardless, once the wheels or tracks of the drive mechanism 22 of thepower unit 12 are aligned with the drive-alignment sections 36 of thedrive-over segment 34, the wheels or tracks can be driven over thedrive-alignment sections 36 to properly align the power unit 12 to theimplement 14 to permit proper connection via the connection assembly 28.As a result, the drive-over segment 34 may enhance proper alignmentbetween the power unit 12 and the implement 14 for efficient coupling.Such proper alignment may include proper lateral alignment (e.g.,left/right alignment), proper longitudinal alignment (e.g.,forward/rearward alignment), and/or proper vertical alignment (e.g.,up/down alignment) between the power unit 12 and the implement 14 topermit proper coupling via the connection assembly 28. In someembodiments, the coupling between the power unit 12 and the implement 14may be performed in an automated/autonomous manner (i.e., via anautomated process). Specifically, data associated with position sensorsassociated with the power unit 12 and the implement 14 may becontinuously exchanged, such that the power unit 12 canautomatedly/autonomously position itself in an appropriate position withrespect to the implement 14 (or the implement mayautomatedly/autonomously position itself in an appropriate position withrespect to the power unit 12), such that the implement 14 can be coupledwith the power unit 12. The process of coupling, via the connectionassembly 28, may also be automatedly/autonomously performed once thepower unit 12 and the implement 14 are in the appropriate relativepositions.

The drive-over segment 34 may additionally permit the power unit and theimplement with to be configured in various preferred operational andtransport orientations. For example, in embodiments in which theimplement 14 has a significant length, the power unit 12 may drive overthe drive-over segment 34 to couple with the implement 14. The powerunit 12 may initially propel the implement 14 in a transportconfiguration, in which the length of the implement 14 is orientatedlongitudinally (i.e., forward/rearward) with respect to a direction oftravel of the power unit 12. Upon reaching an operating area, the powerunit 12 may shift the position of the implement 14 via actuation (e.g.,rotation) of the connection assembly 28 such that the power unit 12 andimplement 14 are in an operational configuration, in which the length ofthe implement 14 is orientated laterally (i.e., leftward/rightward) withrespect to a direction of travel of the power unit 12. In alternativeembodiments, the system 10 may be transitioned to the operationalconfiguration by the implement 14 remaining stationary, while the powerunit maneuvers or shifts its position with respect to the implement 14until the position of the implement 14 is orientated laterally (i.e.,leftward/rightward) with respect to a direction of travel of the powerunit 12. Regardless, in such an operational configuration, the powerunit 12 can propel the implement 14 so as to perform agriculturaloperations.

Turning to FIGS. 10 a-10 c , the connection assembly 28 used to connectthe power unit 12 with the implement 14 may comprise a height adjustablehitch to facilitate coupling and operating with various types and sizesof implements 14. Such height adjustability may be beneficial forcoupling the power unit 12 to implements 14 of varying heights. Forexample, ground-engaging implements (e.g., tillers, scrapers, etc.) mayprefer a lower hitch point (i.e., the point at which the implement 14 isconnected to and/or supported by the power unit 12) so as to enhanceload/force distribution. In contrast, non-ground-engaging (e.g.,sprayers) implements may prefer a higher hitch point. Referring to thedrawings, FIG. 10 a illustrates the connection assembly 28 configuredwith the hitch point at a standard height and/or vertical level, suchthat the power unit 12 can operably couple with an implement 14 having agenerally standard height. FIG. 10 b illustrates the connection assembly28 configured with the hitch point at a raised height and/or verticallevel, such that the power unit 12 can operably couple with an implement14 having a generally increased height (e.g., a sprayer). Finally, FIG.10 c illustrates the connection assembly 28 configured with the hitchpoint at a lowered height and/or vertical level, such that the powerunit 12 can operably couple with an implement 14 having a generallylowered height (e.g., a tiller or scraper). Embodiments may provide forthe connection assembly 28 to be vertically raised and lower via powerprovided by the power supply 24 of the power unit 12 (e.g.,electrically, hydraulically, pneumatically, etc.).

Turning to FIGS. 11 a and 11 b , the connection assembly 28 may includea vertical pivot, such that the power unit 12 and the implement 14 mayrotate (e.g., on a vertical axis) with respect to each other duringmaneuvering and agricultural operations. As such, the connectionassembly 28 may form an articulated coupling. In some additionalembodiments (not illustrated in FIGS. 11 a and 11 b ), the connectionassembly 28 may be configured such that the implement 14 and the powerunit 12 may rotate vertically (on a horizontal axis) with respect toeach other during maneuvering and agricultural operations. As notedpreviously, in some embodiments, the power unit 12 will be configured topush the implement 14, while in alternative embodiments, the power unit12 will be configured to pull the implement 14. In some suchembodiments, the implement 14 may be at least partially self-supportingon the ground.

Turning to FIGS. 12-15 , the connection assembly 28 used to couple thepower unit 12 to the implement 14 may include steering mechanisms andpower couplings. The steering mechanisms may assist the overallmaneuverability of the system 10 (e.g., the combination of the powerunit 12 and the implement 14), while the power couplings permit powerand communication to be transferred back and forth between the powerunit 12 and the implement 14. In more detail, and with reference to FIG.12 , the connection assembly 28 may include a steering mechanism in theform of one or more steering cylinders 40 configured to aid in steeringand/or maneuverability of the system 10. For example, the system 10 mayinclude a pair of steering cylinders 40 (one on either side of anarticulation point 42 of the connection assembly 28, which may bepresented by the vertical pivot of the connection assembly 28) tofacilitate steering of the system 10. Such steering cylinders 40 maycomprise hydraulic or pneumatic cylinders. A single, two-way cylindermay be used. Alternatively, electrical linear actuators may be used. Inview of the above, the connection assembly 28 may comprise anarticulated coupling that releasably secures the implement 14 to thepower unit 12. Beneficially, the steering cylinders 40 are configured tosteer the system 10 (e.g., the power unit 12 and the implement 14)through the articulated coupling by rotating the power unit 12 and theimplement 14 with respect to each other about the articulation point 42.

For each steering cylinder 40, each of the power unit 12 and theimplement 14 may include engageable mating elements that transfer theforces applied by the steering cylinders 40. For example, the steeringcylinders 40 may be attached to and extend from power unit 12, as shownin FIG. 12 . The power unit 12 may also include a mating element 40(a)that extends from each of the steering cylinders 40, such that themating elements 40(a) may extend and retract as the steering cylinders40 extend and retract. Similarly, the implement 14 may include a matingelement 40(b) extending from the implement 14 and configured to engagewith free ends of the mating elements 40(a) of the power unit 12. Insuch a configuration, and particularly with a steering cylinder 40 oneither side of the articulation point 42, the steering cylinders 40 canbe extended and retracted as necessary to assist with maneuvering andturning the system 10. Although FIG. 12 illustrates the steeringcylinders 40 being attached to the power unit 12, other embodiments maypermit the steering cylinders 40 to be attached to the implement 14.

Turning to FIGS. 13 and 14 , the connection assembly 28 may include oneor more coupling mechanisms for transferring power and/or for permittingcommunication between the power unit 12 and the implement 14. Forexample, the connection assembly may include an electrical coupler 44configured to transfer electrical power and/or to allow communicationbetween the power unit 12 and the implement 14. The connection assembly28 may additionally include a hydraulic coupler 46 configured totransfer hydraulic power between the power unit 12 and the implement 14.Each coupler 44, 46 may include a connection element 44(a), 46(a)associated with the power unit 12 and a connection element 44(b), 46(b)associated with the implement 14. Such connection elements 44(a), 46(a)and 44(b), 46(b) can releasably engage with each other, as shown in FIG.14 , to permit transfer of electrical or hydraulic power. The couplers44, 46 may be configured to be both rigid and flexible. Specifically,the connection elements 44(a), 46(a), 44(b), 46(b) may be sufficientlyrigid to permit coupling from the uncoupled configuration (FIG. 13 ) tothe coupled configuration (FIG. 14 ). In addition, however, the couplers44, 46 may be sufficiently flexible to permit relative movement betweenthe power unit 12 and the implement 14 during agricultural operations.For example, as shown in FIG. 14 , each of the couplers 44, 46 may beassociated with a spring element 44(c), 46(c) configured to create aflexible state for the couplers 44, 46 during agricultural operations.In addition, actuators 44(d), 46(d) may be used to reduce slack in thecouplers 44, 46 to create rigidity sufficient to permit accuratealignment for connection between the connection elements 44(a), 46(a),44(b), 46(b) of the couplers 44, 46. Indexing dowels may also be used tohelp facilitate alignment between the connection elements 44(a), 46(a),44(b), 46(b) of the couplers 44, 46. Once connected, the spring elements44(c), 46(c) may be engaged to provide the connection elements 44(a),46(a), 44(b), 46(b) with flexibility during agricultural operations.

In more detail, each of the couplers 44, 46 may include an actuator44(d), 46(d) to facilitate connection between the connection elements44(a), 46(a), 44(b), 46(b) of the couplers 44, 46. The actuators 44(d),46(d) may comprise hydraulic cylinders, pneumatic cylinders, electriclinear actuators, or the like. Such actuators 44(d), 46(d) may be usedto extend or retract the connection elements 44(a), 46(a) of the powerunit 12 to permit accurate connection with the connection elements44(b), 46(b) of the implement 14. Although the actuators 44(d), 46(d)are shown being associated with the connection elements 44(a), 46(a) ofthe power unit 12, in other embodiments, the actuators 44(d), 46(d) maybe associated with the connection elements 44(b), 46(b) of the implement14. As shown, the actuators 44(d), 46(d) may permit longitudinalshifting of the connection elements 44(a), 46(a); however, in otherembodiments, the actuators 44(d), 46(d) may also permit lateral orvertical shifting of the connection elements 44(a), 46(a) In someembodiments, once the couplers 44, 46 have been engaged, the actuators44(d), 46(d) may be relaxed to permit the spring elements 44(c), 46(d)to function to provide flexibility to the couplers 44, 46. In certainembodiments, the connection elements 44(a), 46(a), 44(b), 46(b) of thecouplers 44, 46 may be locked together via various methods ofsecurement, such as mechanisms similar to those used between spark plugsand wires or flat-face hydraulics.

Remaining with FIGS. 13 and 14 , the connection assembly 28 may includea mechanical linkage that releasably connects the power unit 12 to theimplement 14 in a manner to permit the power unit 12 to transport theimplement 14. For instance, the connection assembly 28 may include apower unit connection 50 associated with the power unit 12 that isconfigured to couple with an implement connection 50 associated with theimplement 14. The power unit connection 50 may include a locking element50(a) configured to selectively lock the power unit connection 50 to theimplement connection 52 once the implement connection 52 is aligned withand/or engaged with the power unit connection 50. The locking element50(a) may comprise an actuator, such as a hydraulic cylinder, apneumatic cylinder, an electric linear actuator, or the like. Althoughthe figures illustrate the locking element 50(a) being associated withthe power unit connection 50, other embodiments may provide for thelocking element 50(a) to be associated with the implement connection 52.In some embodiments, either or both of the power unit connection 50and/or the implement connection 52 may be vertically shifted, laterallyshifted, and/or longitudinally shifted so as to aid in alignment andcoupling of the power unit connection 50 and/or the implement connection52.

In some embodiments, the connection assembly 28 may comprise a two-stagehitching assembly to facilitate ease of alignment between the power unit12 and the implement 14. For example, the two-stage hitching assemblymay include the steering actuators 40, the actuators 44(d), 46(d)associated with the couplers 44, 46, and/or the adjustable power unitconnection 50 and/or the implement connection 52, each of which may beconfigured to have their positions shifted (e.g., vertically, laterally,and/or longitudinally). A such, the power unit 12 can maneuver adjacentto the implement 14 for connection but may not be at exactly the correctposition and orientation with the implement 14 for proper connection.Nevertheless, the two-stage hitch may be configured to extend towardsthe implement 14 and be able to shift in multiple directions until thepower unit 12 and implement 14 are linked at a first coupling. Thefirst, initial coupling may be sufficient to pull (or otherwise shiftthe position of) the implement 14 into a proper alignment with the powerunit 12 which will complete the alignment to the power unit 12. Once thepower unit 12 and implement 14 are fully aligned a second, finalcoupling may be completed (e.g., via actuator of the locking element50(a)), such that the power unit 12 and implement 14 are locked togetherin the proper position and orientation. Such embodiments may bebeneficial when hitching on uneven soil, or if the implement 14 hassettled into soft ground or mud after being previously unhooked.Broadly, the two-stage hitching assembly would permit the power unit 12to properly align with any random implement 14 parking condition.

FIG. 15 illustrates an embodiment of a system 10 comprising a power unit12 being operably engaged with an implement 14 via a connection assembly28. As illustrated, the connection assembly is positioned at a back sideof the power unit 12, such that the implement 14 is connected to theback side of the power unit 12. As a result, the power unit 12 canpropel the implement 14 (e.g., pushing or pulling) to performagricultural operations. The steering actuators 40 of the connectionassembly 28 also facilitates maneuvering of the system In someembodiments, the power unit 12 can also provide power to the implement14, such as via the power supply 24 providing electrical, mechanical,combustive, hydraulic, or pneumatic power via the connection assembly28. As shown in FIG. 15 , for instance, the power unit 12 may include ahydraulic pump 24(a) from which hydraulic power (e.g., via pressurizedhydraulic fluid) can be provided to the implement 14, an electricgenerator 24(b) or battery from which electric power can be provided tothe implement 14, and a combustion engine 24(c) from whichmechanical/rotary power can be provided to the implement 14. As notedpreviously, each of the hydraulic pump 24(a), the electricgenerator/battery 24(b), and the combustion engine 24(c) canindependently shift positions on the power unit 12 to shift weight asmay be necessary. The power unit 12 may also include a control system 16(e.g., memory, processors, communication elements, and computerprograms) for controlling operations and communications of the powerunit 12 and/or the implement 14. Such a control system 16 may also haveits position shifted with respect to the power unit 12, if necessary. Asshown in FIG. 15 , in some embodiments, a front end of the power unit 12may also include a connection assembly 28 to which a second implement(not shown) may be connected, such that the power unit 12 cansimultaneously propel and/or power multiple implements 14 for performingagricultural operations.

In some further embodiments, each of the power unit 12 and the implement14 may include a suspension system that permits the power unit 12 and/orthe implement 14 to raise and lower (vertically shift) their respectiveframes with respect to the ground. The suspension systems may also beused to maximizing operational efficiencies of the system 10 by properlyadjusting weight distribution, traction, and/or floatation of the powerunit 12 and the implement 14. The suspension system of each of the powerunit 12 and the implement 14 may be pneumatic or hydraulic. In someembodiments, the suspension system of the power unit 12 and theimplement 14 may be linked together, such that they can operate inunison to further enhance efficiency of the system 10. Communicationbetween the suspension systems may be accomplished via the connectionassembly 28 or wirelessly. In further embodiments, each of the powerunit 12 and the implement 14 may include a brake system that permits thepower unit 12 and/or the implement 14 perform braking operations duringagricultural operations. The brake system of each of the power unit 12and the implement 14 may be pneumatic or hydraulic. In some embodiments,the brake system of the power unit 12 and the implement 14 may be linkedtogether, such that they can operate in unison to further enhanceefficiency of the system 10. Communication between the brake systems maybe accomplished via the connection assembly 28 or wirelessly.

Although the invention has been described with reference to the one ormore embodiments illustrated in the figures, it is understood thatequivalents may be employed and substitutions made herein withoutdeparting from the scope of the invention as recited in the claims.

Having thus described one or more embodiments of the invention, what isclaimed as new and desired to be protected by Letters Patent includesthe following:

What is claimed is:
 1. An autonomous agricultural system comprising: amobile power unit including a power supply and one or more drivemechanisms; and an implement releasably secured to said mobile powerunit, wherein said implement includes one or more drive mechanisms,wherein said implement is releasably secured to said mobile power unitvia an articulated coupling, wherein said autonomous agricultural systemis configured to be steered through said articulated coupling, whereinsaid mobile power unit is configured to transport said implement, andwherein said mobile power unit is further configured to provide powerfrom said power supply to said implement.
 2. The autonomous agriculturalsystem of claim 1, wherein said articulated coupling comprises aconnection assembly including a vertical pivot.
 3. The autonomousagricultural system of claim 2, wherein said mobile power unit and saidimplement are configured to rotate with respect to each other about avertical axis extending through the vertical pivot.
 4. The autonomousagricultural system of claim 1, wherein said articulated couplingcomprises a connection assembly, and wherein said connection assemblycomprises a steering mechanism to steer said autonomous agriculturalsystem.
 5. The autonomous agricultural system of claim 4, wherein thesteering mechanism comprises an electric linear actuator.
 6. Theautonomous agricultural system of claim 4, wherein the steeringmechanism comprises one or more steering cylinders configured to steersaid autonomous agricultural system.
 7. The autonomous agriculturalsystem of claim 6, wherein the one or more steering cylinders comprisehydraulic cylinders.
 8. The autonomous agricultural system of claim 6,wherein each of the one or more steering cylinders extends from eithersaid mobile power unit or said implement and include a mating elementconfigured to engage with a mating element associated with the other ofsaid mobile power unit or said implement.
 9. The autonomous agriculturalsystem of claim 1, wherein said articulated coupling comprises aconnection assembly, and wherein said connection assembly comprises apower coupling configured to permit power and/or communications to betransferred back and forth between said mobile power unit and saidimplement.
 10. The autonomous agricultural system of claim 9, whereinthe power coupling comprises an electric coupler configured to transferelectric power between said mobile power unit and said implement. 11.The autonomous agricultural system of claim 9, wherein the powercoupling comprises a hydraulic coupler configured to hydraulic electricpower between said mobile power unit and said implement.
 12. Theautonomous agricultural system of claim 1, wherein said articulatedcoupling comprises a connection assembly, and wherein said connectionassembly comprises a hitching assembly configured to shift its positionin one or more directions.
 13. The autonomous agricultural system ofclaim 1, wherein said mobile power unit is configured to transport saidimplement by pulling said implement.
 14. The autonomous agriculturalsystem of claim 1, wherein said mobile power unit is configured totransport said implement by pushing said implement.
 15. The autonomousagricultural system of claim 1, wherein said mobile power unit isautonomously controlled based on a location-determining elementassociated with said mobile power unit.
 16. The autonomous agriculturalsystem of claim 1, wherein said implement is an agricultural implementconfigured to modify the ground soil.
 17. The autonomous agriculturalsystem of claim 1, wherein said implement is an agricultural implementconfigured to apply material into or onto the ground soil.
 18. Theautonomous agricultural system of claim 1, wherein said implement is anagricultural implement configured to harvest crop from the ground soil.19. The autonomous agricultural system of claim 1, wherein said powersupply comprises an electric generator or one or more batteries.
 20. Theautonomous agricultural system of claim 1, wherein said drive mechanismsof said mobile power unit comprises one or more tracks.